Multi-Legged Robots—A Review

Mahapatra, Abhijit; Roy, Shibendu Shekhar; Pratihar, Dilip Kumar

doi:10.1007/978-981-15-2953-5_2

Cited by 12 publications

(5 citation statements)

References 156 publications

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“…A multi-legged robot [41], [42] maintains a tremendous potential for maneuverability over different terrain, particularly in comparison to wheeled robot. It possesses less complexity than a human-like walking robot regarding stability and development effort.…”

Section: Module 3: Maneuverable Automationmentioning

confidence: 99%

Maneuverable Autonomy of a Six-legged Walking Robot: Design and Implementation using Deep Neural Networks and Hexapod Locomotion

Huynh¹,

Duong-Trung²,

Nguyen³

et al. 2021

IJACSA

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Automatically real-time synthesizing behaviors for a six-legged walking robot pose several exciting challenges, which can be categorized into mechanics design, control software, and the combination of both. Due to the complexity of controlling and automation, numerous studies choose to gear their attention to a specific aspect of the whole challenge by either proposing valid and low-power assumption of mechanical parts or implementing software solutions upon sensorial capabilities and camera. Therefore, a complete solution associating both mechanical moving parts, hardware components, and software encouraging generalization should be adequately addressed. The architecture proposed in this article orchestrates (i) interlocutor face detection and recognition utilizing ensemble learning and convolutional neural networks, (ii) maneuverable automation of six-legged robot via hexapod locomotion, and (iii) deployment on a Raspberry Pi, that has not been previously reported in the literature. Not satisfying there, the authors even develop one step further by enabling real-time operation. We believe that our contributions ignite multi-research disciplines ranging from IoT, computer vision, machine learning, and robot autonomy.

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Section: Module 3: Maneuverable Automationmentioning

confidence: 99%

Maneuverable Autonomy of a Six-legged Walking Robot: Design and Implementation using Deep Neural Networks and Hexapod Locomotion

Huynh¹,

Duong-Trung²,

Nguyen³

et al. 2021

IJACSA

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“…The design of ground mobile robots is profoundly interdisciplinary, involving elements of mechanics, vision, cognition, and navigation. There are various locomotion principles for ground mobile robots, including wheeled [3,4], legged [5,6], tracked [7,8], and hybrid designs [9][10][11][12]. Moreover, other bio-inspired locomotion principles are proposed in the scientific literature [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Porcospino Flex: A Bio-Inspired Single-Track Robot with a 3D-Printed, Flexible, Compliant Vertebral Column

Nodehi,

Bruzzone,

Lalegani Dezaki

et al. 2024

Robotics

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This paper is focused on the design and development of the Porcospino Flex, a single-track robot inspired by nature and featuring a meta-material structure. In the earlier version of the Porcospino, the main body was composed of a chain of vertebrae and two end sections linked by flexible joints, but the excessive use of materials in 3D printing and the resulting weight of the robot posed challenges, ultimately leading to a decrease in its overall efficiency and performance. The Porcospino Flex is manufactured through the fused deposition modeling process using acrylonitrile butadiene styrene and thermoplastic polyurethane, featuring a singular meta-material structure vertebral column. The adoption of a lattice structure in the main body of the Porcospino Flex leads to a substantial increase in performance, reducing its weight from 4200 g to 3600 g. Furthermore, the decrease in weight leads to a reduction in material usage and waste, making a substantial contribution to the sustainability of the robot. The discussion focuses on the testing results of the Porcospino Flex prototype, highlighting the enhancements observed compared to its prior version.

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“…Independently of the carried equipment, GMRs can be classified according to their type of locomotion, and the selection of the locomotion system is the starting point of the design of GMRs for operation in unstructured environments. There are three main classes of GMRs: legged [1, 2] (L), wheeled [3, 4] (W), and tracked robots [5, 6] (T). These three locomotion principles can be mixed, giving rise to the hybrid combinations proposed in the scientific literature: LT [7, 8], WT [9, 10], LW [11, 12], and LWT [13].…”

Section: Introductionmentioning

confidence: 99%

Porcospino, spined single-track mobile robot for inspection of narrow spaces

Nodehi,

Bruzzone,

Fanghella

2023

Robotica

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This paper discusses the design and the experimental tests on Porcospino, a bio-inspired single-track mobile robot for inspection of unstructured environments characterized by narrow spaces. It is an evolution of SnakeTrack, a single-track robot with steering capabilities; differently from SnakeTrack, the track modules of Porcospino are characterized by elastic spines, which improve traction on uneven and irregular terrains. The main body is a vertebral column, comprising a series of vertebrae connected by compliant joints and two end modules. Each end module carries two sprockets, sharing a common actuator, to drive the single peripherical track. Moreover, each end module hosts an actuator for track steering. The remaining mobilities of the vertebral column allow it to cope passively with the terrain profile, to enhance traction. The control unit, batteries, drivers, and environmental sensors are placed along the vertebral column. Both the end modules are equipped with a camera for intermittent vision, which is possible thanks to openings realized on the track modules. The experimental campaign on the first Porcospino prototype is discussed, highlighting the differences with its earlier version.

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Multi-Legged Robots—A Review

Cited by 12 publications

References 156 publications

Maneuverable Autonomy of a Six-legged Walking Robot: Design and Implementation using Deep Neural Networks and Hexapod Locomotion

Maneuverable Autonomy of a Six-legged Walking Robot: Design and Implementation using Deep Neural Networks and Hexapod Locomotion

Porcospino Flex: A Bio-Inspired Single-Track Robot with a 3D-Printed, Flexible, Compliant Vertebral Column

Porcospino, spined single-track mobile robot for inspection of narrow spaces

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